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ACQUISITIONS - Recognized identifiable assets acquired and liabilities assumed and acquisition costs (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Oct. 31, 2023
Oct. 31, 2022
Dec. 31, 2021
Identified assets acquired, and liabilities assumed          
Goodwill $ 97,232 $ 94,972     $ 90,790
Ventana Research          
Identified assets acquired, and liabilities assumed          
Accounts receivable     $ 404    
Intangible assets     1,400    
Contract liabilities     (1,362)    
Net assets acquired     442    
Goodwill     $ 2,215    
Ventana Research | Selling, general and administrative expenses          
Identified assets acquired, and liabilities assumed          
Acquisition related cost $ 100        
Change 4 Growth          
Identified assets acquired, and liabilities assumed          
Accounts receivable and contract assets       $ 1,841  
Intangible assets       4,300  
Accounts payable and accrued expense       (428)  
Contract liabilities       (85)  
Net assets acquired       5,628  
Goodwill       $ 4,360  
Acquisition related cost   $ 200